#ifndef FR_H
#define FR_H
#include "tp_type.h"


int frClear(STRUCT_FR *fr);
int frRunCycle(STRUCT_FR *fr);

//----add-----
int frAddJointIncrementLink(STRUCT_FR *fr, char blocking, double increment[MAX_JOINT], STRUCT_USER_VEL user_vel, int id, char enable);
int frAddJointIncrementIndep(STRUCT_FR *fr, char blocking, int joint, double increment, STRUCT_USER_VEL user_vel, int id, char enable);
int frAddJointAbsIndep(STRUCT_FR *fr, char blocking, int joint, double posit, STRUCT_USER_VEL user_vel, int id, char enable);
int frAddJointAbsLinked(STRUCT_FR *fr, char blocking, double posit[MAX_JOINT], STRUCT_USER_VEL user_vel, int id, char enable);
int frAddAxisAbs(STRUCT_FR *fr, char blocking, STRUCT_POSE pose, int ik_flag,STRUCT_USER_VEL user_vel, int id, char enable);

//---control handle----
int frHandleAbort(STRUCT_FR *fr);
int frHandlePause(STRUCT_FR *fr);
int frHandleResume(STRUCT_FR *fr);
int frHandleChangeVelRate(STRUCT_FR *fr, float VelRate);


#endif